added roslaunch for file

JPGC04 · JPGC04 · commit cc47195d6ba9 · 2025-04-27T15:28:04.000-04:00
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/launch/thrustertest.launch b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/launch/thrustertest.launch
@@ -0,0 +1,5 @@
+<launch>
+	<include file="$(find propulsion)/launch/propulsion.launch" />
+
+	<node name="thrusters_test" pkg="propulsion" type="thruster_tests.py" respawn="false" output="screen"/>
+</launch>
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/thruster_tests.py b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/thruster_tests.py
@@ -22,6 +22,11 @@
 
     # Ascending sequence
     for pwm in range(1508, 1901, 8):  # Changed step to 8
+        # Initial arming
+        pwm_array[thruster_num] = 1500
+        pub.publish(ThrusterMicroseconds(pwm_array))
+        time.sleep(15)
+
         pwm_array[thruster_num] = pwm
         pub.publish(ThrusterMicroseconds(pwm_array))
         print(f"Sent PWM {pwm} to thruster {thruster_num + 1}")
